目录

修改FreeRTOS代码

创建任务

 编写任务函数

添加定时器模块

配置定时器模块​初始化，并注册中断函数

 编写中断函数

打印下系统信息

打印FreeRTOS系统信息现象

---

修改FreeRTOS代码

main.c中添加
uint8_t CPU_RunInfo[400];
volatile uint32_t CPU_RunTime;

FreeRTOSconfig.h中修改
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS            0
#define configUSE_TRACE_FACILITY                 0
#define configUSE_STATS_FORMATTING_FUNCTIONS     0

///修改为
/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS            1
#define configUSE_TRACE_FACILITY                 1
#define configUSE_STATS_FORMATTING_FUNCTIONS     1

extern volatile uint32_t CPU_RunTime;
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() (CPU_RunTime = 0ul)
#define portGET_RUN_TIME_COUNTER_VALUE() CPU_RunTime

创建任务

/*创建任务*/
void rtos_start(void)
{
	xTaskCreate(	(TaskFunction_t	) 					LED1_Task,
					(        char * ) 					"LED1_Task",
					(const configSTACK_DEPTH_TYPE)	    configMINIMAL_STACK_SIZE ,
					(void *				 	) 			NULL,
					(UBaseType_t	  ) 				14,
					(TaskHandle_t *) 					NULL ) ;

	xTaskCreate(	(TaskFunction_t	) 					LED2_Task,
					(        char * ) 					"LED2_Task",
					(const configSTACK_DEPTH_TYPE)	    configMINIMAL_STACK_SIZE ,
					(void *				 	) 			NULL,
					(UBaseType_t	  ) 				14,
					(TaskHandle_t *) 					NULL ) ;

	xTaskCreate(	(TaskFunction_t	) 					LED3_Task,
					(        char * ) 					"LED3_Task",
					(const configSTACK_DEPTH_TYPE)	    configMINIMAL_STACK_SIZE ,
					(void *				 	) 			NULL,
					(UBaseType_t	  ) 				14,
					(TaskHandle_t *) 					NULL ) ;

	xTaskCreate(	(TaskFunction_t	) 					LED4_Task,
					(        char * ) 					"LED4_Task",
					(const configSTACK_DEPTH_TYPE)	    configMINIMAL_STACK_SIZE ,
					(void *				 	) 			NULL,
					(UBaseType_t	  ) 				14,
					(TaskHandle_t *) 					NULL ) ;

	xTaskCreate(	(TaskFunction_t	) 					main_Task,
					(        char * ) 					"main_Task",
					(const configSTACK_DEPTH_TYPE)	    configMINIMAL_STACK_SIZE ,
					(void *				 	) 			NULL,
					(UBaseType_t	  ) 				14,
					(TaskHandle_t *) 					NULL ) ;

	vTaskStartScheduler();

}

 编写任务函数

void LED1_Task( void *pvParameters )
{

	(void) pvParameters;
	uint8_t count = 0;

	while(1)
	{
		count++;
		if(20 == count)
		{
			count = 0;
			u1_printf("LED1_Task  running & !\r\n");
		}
		PINS_DRV_TogglePins(PTD, 1 << 0);
		vTaskDelay(800);
	}
}


void LED2_Task( void *pvParameters )
{
	(void) pvParameters;

	uint8_t count = 0;
	while(1)
	{
		count++;
		if(20 == count)
		{
			count = 0;
			u1_printf("LED2_Task  running & !\r\n");
		}
		PINS_DRV_TogglePins(PTD, 1 << 1);
		vTaskDelay(400);
	}
}


void LED3_Task( void *pvParameters )
{
	(void) pvParameters;
	uint8_t count = 0;
	while(1)
	{
		count++;
		if(20 == count)
		{
			count = 0;
			u1_printf("LED3_Task  running & !\r\n");
		}
		PINS_DRV_TogglePins(PTD, 1 << 15);

		vTaskDelay(200);
	}
}


void LED4_Task( void *pvParameters )
{
	(void) pvParameters;
	uint8_t count = 0;
	while(1)
	{
		count++;
		if(20 == count)
		{
			count = 0;
			u1_printf("LED4_Task  running & !\r\n");

		}
		PINS_DRV_TogglePins(PTD, 1 << 16);
		vTaskDelay(100);
	}
}

TaskHandle_t TEST_task_handler;

/*创建一个任务并删除自身*/
void TEST_Task( void *pvParameters )
{
	(void) pvParameters;
	taskENTER_CRITICAL();
	u1_printf("test Task running & delete!\r\n");
	vTaskDelete(TEST_task_handler);
	taskEXIT_CRITICAL();
}

/*主循环*/
void main_Task( void *pvParameters )
{
	(void) pvParameters;
	uint32_t pinstate;
	ftm_state_t ftmStateStruct;

	/* 初始化FTM模块 */
	FTM_DRV_Init(INST_FLEXTIMER_MC1, &flexTimer_mc1_InitConfig,&ftmStateStruct);
	/* 配置并使定时器能溢出中断 */
	INT_SYS_InstallHandler(FTM0_Ovf_Reload_IRQn,&ftmTimerISR,(isr_t*) 0U);
	INT_SYS_EnableIRQ(FTM0_Ovf_Reload_IRQn);
	/* 初始化计数器 */
	FTM_DRV_InitCounter(INST_FLEXTIMER_MC1, &flexTimer_mc1_TimerConfig);
	FTM_DRV_CounterStart(INST_FLEXTIMER_MC1);

	while(1)
	{
	pinstate = KEY_Proc (0);
	if(pinstate ==BTN1_PRES )
		{
		xTaskCreate(	(TaskFunction_t	) 				TEST_Task,
					(        char * ) 					"TEST_Task",
					(const configSTACK_DEPTH_TYPE)	    configMINIMAL_STACK_SIZE ,
					(void *				 	) 			NULL,
					(UBaseType_t	  ) 				1,
					(TaskHandle_t *) 					TEST_task_handler ) ;
		taskENTER_CRITICAL();
		Printf_CPU_RunInfo();
		taskEXIT_CRITICAL();
		}
		vTaskDelay(20);
	}
}

添加定时器模块

配置定时器模块初始化，并注册中断函数

	ftm_state_t ftmStateStruct;

	/* 初始化FTM模块 */
	FTM_DRV_Init(INST_FLEXTIMER_MC1, &flexTimer_mc1_InitConfig,&ftmStateStruct);
	/* 配置并使定时器能溢出中断 */
	INT_SYS_InstallHandler(FTM0_Ovf_Reload_IRQn,&ftmTimerISR,(isr_t*) 0U);
	INT_SYS_EnableIRQ(FTM0_Ovf_Reload_IRQn);
	/* 初始化计数器 */
	FTM_DRV_InitCounter(INST_FLEXTIMER_MC1, &flexTimer_mc1_TimerConfig);
	FTM_DRV_CounterStart(INST_FLEXTIMER_MC1);

 编写中断函数

void ftmTimerISR(void)
{
	 //ftm周期中断  50us进来一此
	CPU_RunTime++;
	FTM_DRV_ClearStatusFlags(INST_FLEXTIMER_MC1, (uint32_t)FTM_TIME_OVER_FLOW_FLAG);  //清除FTM状态标志位
}

打印下系统信息

//打印CPU信息
void Printf_CPU_RunInfo()
{
	 uint32_t GetFrequency ;
	 uint32_t ConvertFreqToPeriodTicks ;
	 memset(CPU_RunInfo,0,400); //信息缓冲区清零
	 vTaskList((char *)&CPU_RunInfo); //获取任务运行时间信息
	 u1_printf("------------------------------------------------\r\n");
	 u1_printf("Name         Status   Priority   Residue   Number\r\n");
	 u1_printf("%s", CPU_RunInfo);
	 u1_printf("------------------------------------------------\r\n\n");
	 memset(CPU_RunInfo,0,400); //信息缓冲区清零
	 vTaskGetRunTimeStats((char *)&CPU_RunInfo);
	 u1_printf("Task name Run count usage\r\n");
	 u1_printf("%s", CPU_RunInfo);
	 u1_printf("------------------------------------------------\r\n\n");

	 GetFrequency = FTM_DRV_GetFrequency(INST_FLEXTIMER_MC1);
	 ConvertFreqToPeriodTicks = FTM_DRV_ConvertFreqToPeriodTicks(INST_FLEXTIMER_MC1,20000);
	 u1_printf("GetFrequency = %d\r\n\n",GetFrequency);
	 u1_printf("ConvertFreqToPeriodTicks = %d\r\n\n",ConvertFreqToPeriodTicks);
}

打印FreeRTOS系统信息现象

 参考资料14. CPU使用率统计 — FreeRTOS内核实现与应用开发实战指南—基于STM32 文档 (embedfire.com)